Applied Control Theory for Embedded Systems

This book is written for the practicing engineer who needs to develop
working control systems without going back to school for years. It is
aimed directly at software engineers who are learning control theory
for the first time, however it has found favor engineers of all stripes
when they are tasked with implementing control loops. It teaches
theory, but it also covers many real-world issues in much greater
depth than is taught in the sort of theory course you'd find in many
universities.

Applied Control Theory for Embedded Systems is published by
Elsevier. They have an excellent
page on the book
here.